• ros2 -foxy安装cartographer建图定位-- 源码安装 使用

    foxy 的cartographer_ros 和dashing 的兼容

    cd  ~/xx__ws/src

    安装源码

    git clone https://ghproxy.com/https://github.com/ros2/cartographer.git -b foxy

    git clone https://ghproxy.com/https://github.com/ros2/cartographer_ros.git -b dashing

    安装依赖

    sudo apt update
    sudo apt install -y \
        clang \
        cmake \
        g++ \
        git \
        google-mock \
        libceres-dev \
        liblua5.3-dev \
        libboost-all-dev \
        libprotobuf-dev \
        protobuf-compiler \
        libeigen3-dev \
        libgflags-dev \
        libgoogle-glog-dev \
        libcairo2-dev \
        libpcl-dev \
        libsuitesparse-dev \
        python3-sphinx \
        lsb-release \
        ninja-build \
        stow
     

    lua文件：

    1.  
    2. include "map_builder.lua"
    3. include "trajectory_builder.lua"
    4.  
    5. options = {
    6.   map_builder = MAP_BUILDER,
    7.   trajectory_builder = TRAJECTORY_BUILDER,
    8.   map_frame = "map",
    9.   tracking_frame = "gyro_link",
    10.   published_frame = "base_footprint",
    11.   odom_frame = "odom",
    12.   provide_odom_frame = true,
    13.   publish_frame_projected_to_2d = false,
    14.   -- publish_tracked_pose=true, --发布小车位置
    15.   use_odometry = true,
    16.   use_nav_sat = false,
    17.   use_landmarks = false,
    18.   num_laser_scans = 1,
    19.   num_multi_echo_laser_scans = 0,
    20.   num_subdivisions_per_laser_scan = 1,
    21.   num_point_clouds = 0,
    22.   lookup_transform_timeout_sec = 0.2,
    23.   submap_publish_period_sec = 0.3,
    24.   pose_publish_period_sec = 5e-3,
    25.   trajectory_publish_period_sec = 30e-3,
    26.   rangefinder_sampling_ratio = 1.,
    27.   odometry_sampling_ratio = 1.,
    28.   fixed_frame_pose_sampling_ratio = 1.,
    29.   imu_sampling_ratio = 1.,
    30.   landmarks_sampling_ratio = 1.,
    31. }
    32.  
    33. MAP_BUILDER.use_trajectory_builder_2d = true
    34. MAP_BUILDER.num_background_threads = 2
    35. -- TRAJECTORY_BUILDER.pure_localization_trimmer.max_submaps_to_keep = 3
    36. TRAJECTORY_BUILDER_2D.submaps.num_range_data = 45
    37. TRAJECTORY_BUILDER_2D.min_range = 0.1
    38. TRAJECTORY_BUILDER_2D.max_range = 6.
    39. TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
    40. TRAJECTORY_BUILDER_2D.use_imu_data = true --是否使用imu数据
    41.  
    42. TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
    43. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
    44. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(10.) --角度搜索框的大小
    45. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
    46. -- TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1
    47.  
    48.  
    49. TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05  --运动滤波更新距离   // 如果移动距离过小, 或者时间过短, 不进行地图的更新
    50. TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.03)
    51. TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5
    52.  
    53. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.num_threads = 1
    54. TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 20  --迭代次数
    55.  
    56. POSE_GRAPH.optimization_problem.huber_scale = 1e2
    57.  
    58. POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
    59. POSE_GRAPH.constraint_builder.sampling_ratio = 0.03
    60. POSE_GRAPH.constraint_builder.min_score = 0.50
    61.  
    62. POSE_GRAPH.constraint_builder.global_localization_min_score = 0.60
    63. POSE_GRAPH.optimize_every_n_nodes = 35
    64.  
    65. return options

    建图launch:

    1. import os
    2. from launch import LaunchDescription
    3. from launch.substitutions import LaunchConfiguration
    4. from launch_ros.actions import Node
    5. from launch_ros.substitutions import FindPackageShare
    6. from ament_index_python.packages import get_package_share_directory
    7.  
    8. from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
    9. from launch.conditions import IfCondition
    10. from launch.launch_description_sources import PythonLaunchDescriptionSource
    11.  
    12.  
    13.  
    14.  
    15. def generate_launch_description():
    16.     # 定位到功能包的地址
    17.     pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')
    18.  
    19.     scan_dir = get_package_share_directory('rplidar_ros')
    20.     scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径
    21.  
    22.     serial_dir = get_package_share_directory('serial_pkg')
    23.     serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径
    24.  
    25.     remappings = [('/tf', 'tf'),
    26.                   ('/tf_static', 'tf_static')]
    27.  
    28.     urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型
    29.     
    30.     #=====================运行节点需要的配置=======================================================================
    31.     # 是否使用仿真时间，我们用gazebo，这里设置成true
    32.     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    33.     # 地图的分辨率
    34.     resolution = LaunchConfiguration('resolution', default='0.01')
    35.     # 地图的发布周期
    36.     publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    37.     # 配置文件夹路径
    38.     configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    39.     # 配置文件
    40.     configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')
    41.  
    42.     
    43.  
    44.     start_robot_state_publisher_cmd = Node(  #发布小车TF信息
    45.         package='robot_state_publisher',
    46.         executable='robot_state_publisher',  
    47.         remappings=remappings,
    48.         arguments=[urdf])
    49.  
    50.     joint_state_publisher_node = Node(
    51.         package='joint_state_publisher',
    52.         executable='joint_state_publisher',  
    53.         remappings=remappings,
    54.         arguments=[urdf]
    55.     )
    56.  
    57.  
    58.     serial_cmd = IncludeLaunchDescription(  #串口开启
    59.         PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),
    60.         launch_arguments={'namespace': '',
    61.                           'use_namespace': 'False'}.items())
    62.  
    63.     scan_cmd = IncludeLaunchDescription(  #雷达开启
    64.         PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),
    65.         launch_arguments={'namespace': '',
    66.                           'use_namespace': 'False'}.items())
    67.     #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    68.     cartographer_node = Node(
    69.         package='cartographer_ros',
    70.         executable='cartographer_node',
    71.         name='cartographer_node',
    72.         output='screen',
    73.         parameters=[{'use_sim_time': use_sim_time}],
    74.         arguments=['-configuration_directory', configuration_directory,
    75.                    '-configuration_basename', configuration_basename])
    76.  
    77.     occupancy_grid_node = Node(
    78.         package='cartographer_ros',
    79.         executable='occupancy_grid_node',
    80.         name='occupancy_grid_node',
    81.         output='screen',
    82.         parameters=[{'use_sim_time': use_sim_time}],
    83.         arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
    84.  
    85.     rviz_node = Node(
    86.         package='rviz2',
    87.         executable='rviz2',
    88.         name='rviz2',
    89.         # arguments=['-d', rviz_config_dir],
    90.         parameters=[{'use_sim_time': use_sim_time}],
    91.         output='screen')
    92.  
    93.     #===============================================定义启动文件========================================================
    94.     ld = LaunchDescription()
    95.     ld.add_action(serial_cmd)
    96.     ld.add_action(scan_cmd)
    97.     
    98.     # Add the actions to launch all of the navigation nodes
    99.     ld.add_action(start_robot_state_publisher_cmd)
    100.     ld.add_action(joint_state_publisher_node)  
    101.  
    102.     ld.add_action(cartographer_node)
    103.     ld.add_action(occupancy_grid_node)
    104.     # ld.add_action(rviz_node)  在虚拟机上面远程启动
    105.  
    106.     return ld

    地图保存1:ros2 run nav2_map_server map_saver_cli -t map -f   name    //只是文件名  xx.yaml xx.pgm

    地图保存2:


    ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: 'path/cartorapher.pbstream'}"  //绝对路径

    ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: '0'}"  //结束轨迹

    定位launch:

    1. import os
    2. from launch import LaunchDescription
    3. from launch.substitutions import LaunchConfiguration
    4. from launch_ros.actions import Node
    5. from launch_ros.substitutions import FindPackageShare
    6. from ament_index_python.packages import get_package_share_directory
    7.  
    8. from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
    9. from launch.conditions import IfCondition
    10. from launch.launch_description_sources import PythonLaunchDescriptionSource
    11.  
    12. from nav2_common.launch import RewrittenYaml
    13.  
    14. #定位 launch
    15.  
    16.  
    17. def generate_launch_description():
    18.     # 定位到功能包的地址
    19.     pkg_share = FindPackageShare(package='carerobot_pkg').find('carerobot_pkg')
    20.  
    21.     scan_dir = get_package_share_directory('rplidar_ros')
    22.     scan_launch_dir = os.path.join(scan_dir, 'launch') #雷达launch文件路径
    23.  
    24.     serial_dir = get_package_share_directory('serial_pkg')
    25.     serial_launch_dir = os.path.join(serial_dir, 'launch') #串口launch文件路径
    26.  
    27.     remappings = [('/tf', 'tf'),
    28.                   ('/tf_static', 'tf_static')]
    29.  
    30.     urdf = os.path.join(pkg_share, 'urdf', 'careRobot.urdf') #模型
    31.     
    32.     #=====================运行节点需要的配置=======================================================================
    33.     # 是否使用仿真时间，我们用gazebo，这里设置成true
    34.     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
    35.     # 地图的分辨率
    36.     resolution = LaunchConfiguration('resolution', default='0.01')
    37.     # 地图的发布周期
    38.     publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0')
    39.     # 配置文件夹路径
    40.     configuration_directory = LaunchConfiguration('configuration_directory',default= os.path.join(pkg_share, 'config') )
    41.     # 配置文件
    42.     configuration_basename = LaunchConfiguration('configuration_basename', default='careRobot_2d.lua')
    43.  
    44.     autostart = LaunchConfiguration('autostart', default='True')
    45.     #配置地图
    46.     configuration_map = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.pbstream'))
    47.  
    48.     map_yaml_file = LaunchConfiguration('configuration_map', default=os.path.join(pkg_share, 'maps', 'careRobot.yaml'))
    49.     #配置导航文件
    50.     configuration_nav_params =  LaunchConfiguration('configuration_nav_params', default=os.path.join(pkg_share, 'params', 'careRobot_nav.yaml'))
    51.     
    52.  
    53.     default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename', 
    54.         default=os.path.join(get_package_share_directory('nav2_bt_navigator'),
    55.         'behavior_trees', 'navigate_w_replanning_and_recovery.xml'))
    56.  
    57.  
    58.     map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local', default='True')
    59.  
    60.     namespace = LaunchConfiguration('namespace', default='')
    61.  
    62.     lifecycle_nodes = ['controller_server',
    63.                        'planner_server',
    64.                        'recoveries_server',
    65.                        'bt_navigator',
    66.                        'waypoint_follower']
    67.  
    68.    
    69.  
    70.  
    71.     serial_cmd = IncludeLaunchDescription(  #串口开启
    72.         PythonLaunchDescriptionSource(os.path.join(serial_launch_dir, 'serial_pkg.launch.py')),
    73.         launch_arguments={'namespace': '',
    74.                           'use_namespace': 'False'}.items())
    75.  
    76.     scan_cmd = IncludeLaunchDescription(  #雷达开启
    77.         PythonLaunchDescriptionSource(os.path.join(scan_launch_dir, 'rplidar_A1.launch.py')),
    78.         launch_arguments={'namespace': '',
    79.                           'use_namespace': 'False'}.items())
    80.     #=====================声明三个节点，cartographer/occupancy_grid_node/rviz_node=================================
    81.  
    82.     start_robot_state_publisher_cmd = Node(  #发布小车TF信息
    83.         package='robot_state_publisher',
    84.         executable='robot_state_publisher',  
    85.         remappings=remappings,
    86.         arguments=[urdf])
    87.  
    88.     joint_state_publisher_node = Node(
    89.         package='joint_state_publisher',
    90.         executable='joint_state_publisher',  
    91.         remappings=remappings,
    92.         arguments=[urdf]
    93.     )
    94.     cartographer_node = Node(
    95.         package = 'cartographer_ros',
    96.         executable = 'cartographer_node',
    97.         name='cartographer_node',
    98.         parameters = [{'use_sim_time': True}],
    99.         arguments = [
    100.             '-configuration_directory',configuration_directory,     #配置文件路径
    101.             '-configuration_basename', configuration_basename,      #配置文件名
    102.             '-load_state_filename', configuration_map               #pbstream地图
    103.             ],
    104.         # remappings = [
    105.         #     ('echoes', 'horizontal_laser_2d')],
    106.         output = 'screen'
    107.     )
    108.  
    109.  
    110.     occupancy_grid_node = Node(
    111.         package='cartographer_ros',
    112.         executable='occupancy_grid_node',
    113.         name='occupancy_grid_node',
    114.         output='screen',
    115.         parameters=[{'use_sim_time': use_sim_time}],
    116.         arguments=['-resolution', resolution, '-publish_period_sec', publish_period_sec])
    117.  
    118.     rviz_node = Node(
    119.         package='rviz2',
    120.         executable='rviz2',
    121.         name='rviz2',
    122.         # arguments=['-d', rviz_config_dir],
    123.         parameters=[{'use_sim_time': use_sim_time}],
    124.         output='screen')
    125.  
    126.  
    127.     param_substitutions = {
    128.         'use_sim_time': use_sim_time,
    129.         'default_bt_xml_filename': default_bt_xml_filename,
    130.         'autostart': autostart,
    131.         'map_subscribe_transient_local': map_subscribe_transient_local}
    132.  
    133.     configured_params = RewrittenYaml(
    134.             source_file=configuration_nav_params,
    135.             root_key=namespace,
    136.             param_rewrites=param_substitutions,
    137.             convert_types=True)
    138.  
    139.     nav2_controller_node= Node( #导航控制器
    140.             package='nav2_controller',
    141.             executable='controller_server',
    142.             output='screen',
    143.             parameters=[configured_params],
    144.             remappings=remappings)
    145.  
    146.     nav2_planner_node=Node( #导航归化器
    147.         package='nav2_planner',
    148.         executable='planner_server',
    149.         name='planner_server',
    150.         output='screen',
    151.         parameters=[configured_params],
    152.         remappings=remappings)
    153.  
    154.     nav2_recoveries_node=Node( #导航恢复
    155.         package='nav2_recoveries',
    156.         executable='recoveries_server',
    157.         name='recoveries_server',
    158.         output='screen',
    159.         parameters=[configured_params],
    160.         remappings=remappings)
    161.  
    162.     nav2_bt_navigator_node=Node( #行为树
    163.         package='nav2_bt_navigator',
    164.         executable='bt_navigator',
    165.         name='bt_navigator',
    166.         output='screen',
    167.         parameters=[configured_params],
    168.         remappings=remappings)
    169.  
    170.     nav2_waypoint_follower_node=Node(#点跟随
    171.         package='nav2_waypoint_follower',
    172.         executable='waypoint_follower',
    173.         name='waypoint_follower',
    174.         output='screen',
    175.         parameters=[configured_params],
    176.         remappings=remappings)
    177.  
    178.     nav2_lifecycle_manager_node=Node( #生命周期
    179.         package='nav2_lifecycle_manager',
    180.         executable='lifecycle_manager',
    181.         name='lifecycle_manager_navigation',
    182.         output='screen',
    183.         parameters=[{'use_sim_time': use_sim_time},
    184.                     {'autostart': autostart},
    185.                     {'node_names': lifecycle_nodes}])
    186.  
    187.     #===============================================定义启动文件========================================================
    188.     ld = LaunchDescription()
    189.     ld.add_action(serial_cmd)
    190.     ld.add_action(scan_cmd)
    191.     
    192.     # Add the actions to launch all of the navigation nodes
    193.     ld.add_action(start_robot_state_publisher_cmd)
    194.     ld.add_action(joint_state_publisher_node)  
    195.  
    196.     ld.add_action(cartographer_node)
    197.     ld.add_action(occupancy_grid_node)
    198.  
    199.     ld.add_action(nav2_controller_node)
    200.     ld.add_action(nav2_planner_node)
    201.     ld.add_action(nav2_recoveries_node)
    202.     ld.add_action(nav2_bt_navigator_node)
    203.     ld.add_action(nav2_waypoint_follower_node)
    204.     ld.add_action(nav2_lifecycle_manager_node)
    205.  
    206.     #ld.add_action(rviz_node)
    207.  
    208.     return ld

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  • 原文地址：https://blog.csdn.net/chilian12321/article/details/126668426